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<a href="sdo_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  $Id: sdo.c,v bc2d4bf9cbe5 2012/09/06 18:22:24 fp $</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  This file is part of the IgH EtherCAT Master.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is free software; you can redistribute it and/or</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modify it under the terms of the GNU General Public License version 2, as</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  published by the Free Software Foundation.</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  Public License for more details.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *  You should have received a copy of the GNU General Public License along</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *  with the IgH EtherCAT Master; if not, write to the Free Software</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  ---</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  The license mentioned above concerns the source code only. Using the</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  EtherCAT technology and brand is only permitted in compliance with the</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  industrial property and similar rights of Beckhoff Automation GmbH.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &lt;linux/slab.h&gt;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="master_8h.html">master.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sdo_8h.html">sdo.h</a>&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="sdo_8h.html#ac99e87366c0031106442aa389ce7f228">   47</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="sdo_8c.html#a15cf95f0a90b02eea2cb78638fca60ef">ec_sdo_init</a>(</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <a class="code" href="structec__sdo.html">ec_sdo_t</a> *sdo, </div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <a class="code" href="structec__slave.html">ec_slave_t</a> *slave, </div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        uint16_t index </div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        )</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    sdo-&gt;<a class="code" href="structec__sdo.html#abaa23035a820b5eaae49b95b98ef3985">slave</a> = slave;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    sdo-&gt;<a class="code" href="structec__sdo.html#a1764ade2d1d34c8e0c8951ff4a809663">index</a> = index;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    sdo-&gt;<a class="code" href="structec__sdo.html#ad1e3b4f7b9d26d163289b7ab6b36b011">object_code</a> = 0x00;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    sdo-&gt;<a class="code" href="structec__sdo.html#a4dae1d2cd41ce8ab4407097ed7844472">name</a> = NULL;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    sdo-&gt;<a class="code" href="structec__sdo.html#ad493bab8f7ef1179d41172bbc445c77e">max_subindex</a> = 0;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    INIT_LIST_HEAD(&amp;sdo-&gt;<a class="code" href="structec__sdo.html#a9f7c6b8967a84ba8686f1eb851019b4f">entries</a>);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="sdo_8h.html#a2f3bd87a0df2cff2b6201d26052dc14b">   67</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="sdo_8c.html#aca357ab1de36e046e6255172760de6cb">ec_sdo_clear</a>(</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <a class="code" href="structec__sdo.html">ec_sdo_t</a> *sdo </div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        )</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;{</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <a class="code" href="structec__sdo__entry__t.html">ec_sdo_entry_t</a> *entry, *next;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">// free all entries</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    list_for_each_entry_safe(entry, next, &amp;sdo-&gt;<a class="code" href="structec__sdo.html#a9f7c6b8967a84ba8686f1eb851019b4f">entries</a>, list) {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        list_del(&amp;entry-&gt;<a class="code" href="structec__sdo__entry__t.html#a7ac0567e0a3b260803d3de36ddbc7a63">list</a>);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <a class="code" href="sdo__entry_8c.html#ad05f527f4e7024d3e62a5e2997666b02">ec_sdo_entry_clear</a>(entry);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        kfree(entry);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    }</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">if</span> (sdo-&gt;<a class="code" href="structec__sdo.html#a4dae1d2cd41ce8ab4407097ed7844472">name</a>)</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        kfree(sdo-&gt;<a class="code" href="structec__sdo.html#a4dae1d2cd41ce8ab4407097ed7844472">name</a>);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="sdo_8h.html#a584a2dd3378e767d92f0485e1d89679a">   91</a></span>&#160;<a class="code" href="structec__sdo__entry__t.html">ec_sdo_entry_t</a> *<a class="code" href="sdo_8c.html#af352865e2d5558a9df73336a386e6936">ec_sdo_get_entry</a>(</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <a class="code" href="structec__sdo.html">ec_sdo_t</a> *sdo, </div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        uint8_t subindex </div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        )</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;{</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <a class="code" href="structec__sdo__entry__t.html">ec_sdo_entry_t</a> *entry;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    list_for_each_entry(entry, &amp;sdo-&gt;<a class="code" href="structec__sdo.html#a9f7c6b8967a84ba8686f1eb851019b4f">entries</a>, list) {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordflow">if</span> (entry-&gt;<a class="code" href="structec__sdo__entry__t.html#a7411aa63d3e57ac816ecfbabdc9926c8">subindex</a> != subindex)</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordflow">return</span> entry;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">return</span> NULL;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;}</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="sdo_8h.html#a2a3fa7a030cf23306c37e5628d11838b">  116</a></span>&#160;<span class="keyword">const</span> <a class="code" href="structec__sdo__entry__t.html">ec_sdo_entry_t</a> *<a class="code" href="sdo_8c.html#a00027bedf282c987d166215fed28de72">ec_sdo_get_entry_const</a>(</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__sdo.html">ec_sdo_t</a> *sdo, </div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        uint8_t subindex </div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        )</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;{</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keyword">const</span> <a class="code" href="structec__sdo__entry__t.html">ec_sdo_entry_t</a> *entry;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    list_for_each_entry(entry, &amp;sdo-&gt;<a class="code" href="structec__sdo.html#a9f7c6b8967a84ba8686f1eb851019b4f">entries</a>, list) {</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordflow">if</span> (entry-&gt;<a class="code" href="structec__sdo__entry__t.html#a7411aa63d3e57ac816ecfbabdc9926c8">subindex</a> != subindex)</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordflow">return</span> entry;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordflow">return</span> NULL;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;}</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="ttc" id="sdo_8c_html_a00027bedf282c987d166215fed28de72"><div class="ttname"><a href="sdo_8c.html#a00027bedf282c987d166215fed28de72">ec_sdo_get_entry_const</a></div><div class="ttdeci">const ec_sdo_entry_t * ec_sdo_get_entry_const(const ec_sdo_t *sdo, uint8_t subindex)</div><div class="ttdoc">Get an SDO entry from an SDO via its subindex. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8c_source.html#l00116">sdo.c:116</a></div></div>
<div class="ttc" id="sdo_8c_html_af352865e2d5558a9df73336a386e6936"><div class="ttname"><a href="sdo_8c.html#af352865e2d5558a9df73336a386e6936">ec_sdo_get_entry</a></div><div class="ttdeci">ec_sdo_entry_t * ec_sdo_get_entry(ec_sdo_t *sdo, uint8_t subindex)</div><div class="ttdoc">Get an SDO entry from an SDO via its subindex. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8c_source.html#l00091">sdo.c:91</a></div></div>
<div class="ttc" id="structec__sdo__entry__t_html"><div class="ttname"><a href="structec__sdo__entry__t.html">ec_sdo_entry_t</a></div><div class="ttdoc">CANopen SDO entry. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__entry_8h_source.html#l00054">sdo_entry.h:54</a></div></div>
<div class="ttc" id="structec__sdo_html"><div class="ttname"><a href="structec__sdo.html">ec_sdo</a></div><div class="ttdoc">CANopen SDO. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00049">sdo.h:49</a></div></div>
<div class="ttc" id="structec__sdo_html_a1764ade2d1d34c8e0c8951ff4a809663"><div class="ttname"><a href="structec__sdo.html#a1764ade2d1d34c8e0c8951ff4a809663">ec_sdo::index</a></div><div class="ttdeci">uint16_t index</div><div class="ttdoc">SDO index. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00052">sdo.h:52</a></div></div>
<div class="ttc" id="structec__sdo_html_abaa23035a820b5eaae49b95b98ef3985"><div class="ttname"><a href="structec__sdo.html#abaa23035a820b5eaae49b95b98ef3985">ec_sdo::slave</a></div><div class="ttdeci">ec_slave_t * slave</div><div class="ttdoc">Parent slave. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00051">sdo.h:51</a></div></div>
<div class="ttc" id="structec__sdo__entry__t_html_a7ac0567e0a3b260803d3de36ddbc7a63"><div class="ttname"><a href="structec__sdo__entry__t.html#a7ac0567e0a3b260803d3de36ddbc7a63">ec_sdo_entry_t::list</a></div><div class="ttdeci">struct list_head list</div><div class="ttdoc">List item. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__entry_8h_source.html#l00055">sdo_entry.h:55</a></div></div>
<div class="ttc" id="master_8h_html"><div class="ttname"><a href="master_8h.html">master.h</a></div><div class="ttdoc">EtherCAT master structure. </div></div>
<div class="ttc" id="structec__sdo_html_ad1e3b4f7b9d26d163289b7ab6b36b011"><div class="ttname"><a href="structec__sdo.html#ad1e3b4f7b9d26d163289b7ab6b36b011">ec_sdo::object_code</a></div><div class="ttdeci">uint8_t object_code</div><div class="ttdoc">Object code. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00053">sdo.h:53</a></div></div>
<div class="ttc" id="structec__slave_html"><div class="ttname"><a href="structec__slave.html">ec_slave</a></div><div class="ttdoc">EtherCAT slave. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00176">slave.h:176</a></div></div>
<div class="ttc" id="structec__sdo_html_a4dae1d2cd41ce8ab4407097ed7844472"><div class="ttname"><a href="structec__sdo.html#a4dae1d2cd41ce8ab4407097ed7844472">ec_sdo::name</a></div><div class="ttdeci">char * name</div><div class="ttdoc">SDO name. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00054">sdo.h:54</a></div></div>
<div class="ttc" id="sdo__entry_8c_html_ad05f527f4e7024d3e62a5e2997666b02"><div class="ttname"><a href="sdo__entry_8c.html#ad05f527f4e7024d3e62a5e2997666b02">ec_sdo_entry_clear</a></div><div class="ttdeci">void ec_sdo_entry_clear(ec_sdo_entry_t *entry)</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__entry_8c_source.html#l00068">sdo_entry.c:68</a></div></div>
<div class="ttc" id="sdo_8c_html_a15cf95f0a90b02eea2cb78638fca60ef"><div class="ttname"><a href="sdo_8c.html#a15cf95f0a90b02eea2cb78638fca60ef">ec_sdo_init</a></div><div class="ttdeci">void ec_sdo_init(ec_sdo_t *sdo, ec_slave_t *slave, uint16_t index)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8c_source.html#l00047">sdo.c:47</a></div></div>
<div class="ttc" id="structec__sdo_html_a9f7c6b8967a84ba8686f1eb851019b4f"><div class="ttname"><a href="structec__sdo.html#a9f7c6b8967a84ba8686f1eb851019b4f">ec_sdo::entries</a></div><div class="ttdeci">struct list_head entries</div><div class="ttdoc">List of entries. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00056">sdo.h:56</a></div></div>
<div class="ttc" id="structec__sdo_html_ad493bab8f7ef1179d41172bbc445c77e"><div class="ttname"><a href="structec__sdo.html#ad493bab8f7ef1179d41172bbc445c77e">ec_sdo::max_subindex</a></div><div class="ttdeci">uint8_t max_subindex</div><div class="ttdoc">Maximum subindex. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8h_source.html#l00055">sdo.h:55</a></div></div>
<div class="ttc" id="sdo_8c_html_aca357ab1de36e046e6255172760de6cb"><div class="ttname"><a href="sdo_8c.html#aca357ab1de36e046e6255172760de6cb">ec_sdo_clear</a></div><div class="ttdeci">void ec_sdo_clear(ec_sdo_t *sdo)</div><div class="ttdoc">SDO destructor. </div><div class="ttdef"><b>Definition:</b> <a href="sdo_8c_source.html#l00067">sdo.c:67</a></div></div>
<div class="ttc" id="sdo_8h_html"><div class="ttname"><a href="sdo_8h.html">sdo.h</a></div><div class="ttdoc">EtherCAT CANopen SDO structure. </div></div>
<div class="ttc" id="structec__sdo__entry__t_html_a7411aa63d3e57ac816ecfbabdc9926c8"><div class="ttname"><a href="structec__sdo__entry__t.html#a7411aa63d3e57ac816ecfbabdc9926c8">ec_sdo_entry_t::subindex</a></div><div class="ttdeci">uint8_t subindex</div><div class="ttdoc">Subindex. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__entry_8h_source.html#l00057">sdo_entry.h:57</a></div></div>
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